Apparatus for detecting tilt, lean, movement, rotation, of a user, rider, payload

ABSTRACT

An apparatus that detects a tilt, lean, movement and/or rotation and/or change in tilt, lean, position and/or rotation of a user, rider, and/or payload which may use sensors configured to accomplish this detection, where sensors may be on, embedded in and/or attached to a structural device, strap, and/or surface of a vehicle, structure or system, where an apparatus of the present invention may be on, part of, in, attached to or connected to a vehicle, structure or system where detecting, measuring and/or determining a lean, tilt, movement and/or rotation or change thereof, of a user, rider, and/or payload, may be desirable; position or movement and/or center of mass or change thereof may be calculated, or detected; calculations, measurements, metrics or detections from the present invention may be an output or the only output of an apparatus that is an embodiment of the present invention.

CROSS-REFERENCE TO RELATED PATENT APPLICATION(S)

This patent application claims priority to U.S. provisional application62/742,363, filed on Oct. 7, 2018, the contents of which areincorporated in their entirety herein. In accordance with 37 C.F.R. §1.76, a claim of benefit is included in an Application Data Sheet filedconcurrently herewith.

FIELD OF THE INVENTION

The present invention relates to a methodology and construction of anapparatus that determines at least one of tilt, lean, or rotation of auser, rider, and/or payload; an apparatus of this nature may be employedon a vehicle or in other use cases. More specifically, detecting thetilt, lean and/or rotation of a user, rider, or payload may be usefulinformation for a system that the user, rider, or payload is part of.When a user, rider, or payload is on a flying vehicle, or a land basedor water based vehicle, it may be beneficial to the control andstability of the vehicle to understand and input the tilt, lean, orrotation of a rider or payload into control algorithms or methods of thevehicle—the present invention covers an apparatus that is able to detecttilt, lean, rotation, movement, or change in tilt, lean, rotation,position, and may determine the center of mass or change in center ofmass of a user, rider, or payload through at least one of various typesof sensors or combinations of sensors.

BACKGROUND OF THE INVENTION

In many systems, a user, rider, or payload is small relative to thesystem (a person standing on the floor of a building, a glass of water,camera, fire extinguisher or puppy on a table or other structure forexample); in these cases, a small movement of the user, person, orobject will not drastically change the center of mass of the system (theperson in the building or the puppy on the table)—and so detecting theirtilt, lean, or rotation, or the change in the center of mass of thesystem, is not typically performed, especially in how it may relate tocontrol and/or stability of the system. Related art and practices do nottypically determine this in a way that.

In some cases, prior art does detect a movement, such as in an automaticdoor opening detection apparatus, or a video game floor sensor, where auser steps on portions of a floor sensor in a certain order, in orderenact dance moves of a video game for example, but these tactics areperformed using different structures, sensors, methods and formats thanthe present invention and do not perform the same function as thepresent invention.

In some cases, detecting the tilt, lean, or rotation of a person, user,or payload, including an object, may be of value, and the current art inthe field does not accomplish these potential needs adequately.

In many vehicles, the vehicle is large relative to a rider or payload,and small movements of a rider or payload may not effect or impact thecontrol or stability of the vehicle. In small vehicles, the changingtilt or rotation of a user, rider, or payload may have an effect orimpact on the total center of mass or mass distribution of the system,and this may effect or impact the control or stability of the vehicle.

BRIEF SUMMARY OF THE INVENTION

The present invention comprises an apparatus for the detection of atleast one of the tilt, lean, movement, rotation, or change in tilt,lean, movement, or rotation of a user, rider, and/or payload bydetecting any of the above with sensors, positioned to determine any ofthose movements. This may include detecting and/or determining thecenter of mass, or change in center of mass, of the user, rider, and/orpayload or detecting or determining the center of mass, or change incenter of mass, of the system comprising a user, rider, and/or payloadand the vehicle or system containing a user, rider, and/or payload.

Advances in the methodology and construction of an apparatus that candetermine at least one of tilt, lean, movement, rotation, or change intilt, lean, position or rotation could add value to multiple use cases.Based on the unique combination of material, including hardware,mechanical structures and various types of sensors, in a novel way, toprovide a new capability—the detection of at least one of the tilt,lean, rotation, or change in tilt, lean, or rotation through anapparatus as described in the present invention may contribute newcapabilities supporting multiple use cases.

If a structural part of a vehicle or system is effected or impacted by atilt, lean, movement and/or rotation of a user, the tilt, lean, movementand/or rotation of this part of a vehicle or system may be detectedusing any of the sensing methods described herein, or other methods, inorder to determine a tilt, lean, movement and/or rotation of user,rider, and/or payload, and/or center of mass and/or change in center ofmass, where change may include direction and/or magnitude.

These combinations of sensors and sensor locations, as well as strapson, around, or connected to a user, rider, and/or payload, or tilting,leaning, moving and/or rotating pieces of a vehicle are examples ofembodiments of the present invention, but are not an exhaustive list,and do not represent all embodiments of the present invention, whichcomprises an apparatus for detecting a tilt, lean, movement and/orrotation of a user, rider, and/or payload.

In an embodiment, an apparatus may comprise a portion of the apparatusconfigured to hold at least one object, at least one sensor attached tothe portion of the apparatus, the sensor configured to detect a changeor perturbation of at least one parameter relating to the at least oneobject, and a computational device configured to determine at least oneof a tilt, a lean, a shift, a rotation, a slide, a position, a movement,and a rotation of the at least one object or to determine a change in atleast one of a tilt, a lean, a shift, a rotation, a slide, a position, amovement, and a rotation of the at least one object based on the changeor perturbation detected by the sensor.

In embodiments, the at least one parameter may comprise at least one ofa weight, a force, a tension, or a stress generated by the at least oneobject. The at least one object may comprise at least one of a user, arider, or a payload. The computational device may be configured tofurther determine at least one of a magnitude and a direction in whichthe at least one object shifts, slides, or rotates in order to determinethe tilt, lean, or rotation of the at least one object. Thecomputational device may be further configured to use the detected ormeasured movement or perturbation to determine at least one of a centerof mass, a center of gravity, a change in the center of mass, and achange in the center of gravity of the object. The at least one sensormay comprise a plurality of sensors, including at least one ofmeasurement devices, physics measuring systems, and remote measurementsystems.

The at least one sensor may be further configured to detect or measure amagnitude or direction of a movement or perturbation of a piece of theapparatus and the computational device may be further configured to usethe detected or measured movement or perturbation to determine at leastone of a tilt, a lean, a shift, a rotation, a slide, a position, amovement, or a rotation of the at least one object or to determine achange in at least one of a tilt, a lean, a shift, a rotation, a slide,a position, a movement, and a rotation of the at least one object. Thecomputational device may be further configured to use the detected ormeasured movement or perturbation to determine at least one of a centerof mass, a center of gravity, a change in the center of mass, and achange in the center of gravity of the object.

The at least one parameter may comprise at least one of a distance, alocation, a position or a change thereof and the sensors comprise atleast one of electromagnetic sensors, lidar sensors, radar sensors,sonar sensors, optical sensors or laser systems configured to detect atleast one of a position and density of the at least one object. The atleast one object may comprise at least one of a user, a rider, or apayload. The computational device may be configured to further determineat least one of a magnitude and a direction in which the at least oneobject shifts, slides, or rotates in order to determine the tilt, lean,or rotation of the at least one object. The computational device may befurther configured to use the detected or measured movement orperturbation to determine at least one of a center of mass, a center ofgravity, a change in the center of mass, and a change in the center ofgravity of the object. The at least one sensor may comprise a pluralityof sensors, including at least one of measurement devices, physicsmeasuring systems, and remote measurement systems.

The at least one sensor may be further configured to detect or measure amagnitude or direction of a movement or perturbation of a piece of theapparatus and the computational device may be further configured to usethe detected or measured movement or perturbation to determine at leastone of a tilt, a lean, a shift, a rotation, a slide, a position, amovement, and a rotation of the at least one object or to determine achange in at least one of a tilt, a lean, a shift, a rotation, a slide,a position, a movement, and a rotation of the at least one object. Thecomputational device may be further configured use the detected ormeasured movement or perturbation to determine at least one of a centerof mass, a center of gravity, a change in the center of mass, or achange in the center of gravity of the object. The at least one sensormay be configured to measure at least one of a distance, a position, achange in position, a volume, a change in volume, a surface, a surfacelocation, a changes in surface location, a linear distance, a non-lineardistance, a distance with respect to at least one reference points orsensor location, a distance from the object to the at least one sensor,a distance from the object to a reference point, distances from theobject to a plurality of reference points, distances from a plurality ofpoints on the object to the at least one sensor or at least onereference point, and any changes thereof. The at least one object maycomprise at least one of a user, a rider, or a payload.

The computational device may be further configured to use the detectedor measured movement or perturbation to determine at least one of acenter of mass, a center of gravity, a change in the center of mass, anda change in the center of gravity of the object. A virtual map of anarea with a user rider or payload is created and this virtual map may beused to determine a perturbation in positioning of a user rider orpayload. A virtual map of an area with a user rider or payload may becreated using at least one of sensors including weight sensors, distancemeasuring sensors, remote sensors, or electromagnetic sensors. Adetected perturbation in positioning of a user rider or payload,included within a virtual map of an area, may be used to determinecenter of gravity or center of mass, or change in center of gravity orcenter of mass. The at least one sensor is further configured to detector measure a magnitude or direction of a movement or perturbation of apiece of the apparatus and the computational device is furtherconfigured to use the detected or measured movement or perturbation todetermine at least one of a tilt, a lean, a shift, a rotation, a slide,a position, a movement, and a rotation of the at least one object or todetermine a change in at least one of a tilt, a lean, a shift, arotation, a slide, a position, a movement, and a rotation of the atleast one object. The computational device may be further configured usethe detected or measured movement or perturbation to determine at leastone of a center of mass, a center of gravity, a change in the center ofmass, and a change in the center of gravity of the object.

In an embodiment, an apparatus may comprise a platform configured tohold at least one object, at least one sensor attached to the platform,the sensor configured to detect a change or perturbation of at least oneof a weight, a force, a tension, and a stress generated by the at leastone object, and a computational device configured to determine at leastone of a tilt, a lean, a shift, a rotation, a slide, a position, amovement, and a rotation of the at least one object or to determine achange in at least one of a tilt, a lean, a shift, a rotation, a slide,a position, a movement, and a rotation of the at least one object basedon the change or perturbation detected by the at least one sensor.

In embodiments, the at least one object may comprise at least one of auser, a rider, or a payload. The computational device may be configuredto further determine at least one of a magnitude and a direction inwhich the at least one object shifts, slides, or rotates in order todetermine the tilt, lean, or rotation of a user, rider, or payload. Theat least one sensor may comprise a plurality of sensors, including atleast one of measurement devices, physics measuring systems, and remotemeasurement systems. The computational device may be further configuredto use the detected or measured movement or perturbation to determine atleast one of a center of mass, a center of gravity, a change in thecenter of mass, and a change in the center of gravity of the object. Theat least one sensor may comprise a plurality of sensors arranged in aradial pattern. The at least one sensor may be further configured todetect or measure a magnitude or direction of a movement or perturbationof a piece of the apparatus and the computational device is furtherconfigured to use the detected or measured movement or perturbation todetermine at least one of a tilt, a lean, a shift, a rotation, a slide,a position, a movement, and a rotation of the at least one object or todetermine a change in at least one of a tilt, a lean, a shift, arotation, a slide, a position, a movement, and a rotation of the atleast one object. The computational device may be further configured usethe detected or measured movement or perturbation to determine at leastone of a center of mass, a center of gravity, a change in the center ofmass, and a change in the center of gravity of the object. The platformmay be on one of a ground, a flat surface, or a semi flat surface. Theflat surface or semi flat surface may be one of a floor, a wall, acurved wing type shape, or a vehicle surface.

In an embodiment, an apparatus may comprise a chair configured to holdat least one object, the chair comprising platform surface and aseat-back surface, at least one sensor attached to at least one of theplatform surface or the seat-back surface, the at least one sensorconfigured to detect a change or perturbation of at least one of aweight, a force, a tension, and a stress generated by the at least oneobject, and a computational device configured to determine at least oneof a tilt, a lean, a shift, a rotation, a slide, a position, a movement,and a rotation of the at least one object or to determine a change in atleast one of a tilt, a lean, a shift, a rotation, a slide, a position, amovement, and a rotation of the at least one object based on the changeor perturbation detected by the at least one sensor.

In embodiments, the at least one object comprises at least one of auser, a rider, or a payload. The computational device may be configuredto further determine at least one of a magnitude and a direction inwhich the at least one object shifts, slides, or rotates in order todetermine the tilt, lean, or rotation of a user, rider, or payload. Thecomputational device may be further configured to use the detected ormeasured movement or perturbation to determine at least one of a centerof mass, a center of gravity, a change in the center of mass, and achange in the center of gravity of the object. The at least one sensormay comprise a plurality of sensors, including at least one ofmeasurement devices, physics measuring systems, and remote measurementsystems. The at least one sensor may be further configured to detect ormeasure a magnitude or direction of a movement or perturbation of apiece of the apparatus and the computational device is furtherconfigured to use the detected or measured movement or perturbation todetermine at least one of a tilt, a lean, a shift, a rotation, a slide,a position, a movement, and a rotation of the at least one object or todetermine a change in at least one of a tilt, a lean, a shift, arotation, a slide, a position, a movement, and a rotation of the atleast one object. The computational device may be further configured usethe detected or measured movement or perturbation to determine at leastone of a center of mass, a center of gravity, a change in the center ofmass, and a change in the center of gravity of the object. The chairfurther may comprise two arms each having at least one sensor attachedthereto.

In an embodiment, an apparatus may comprise a platform configured tohold at least one object, at least one sensor attached to the platform,the sensor configured to detect a change or perturbation of a distancefrom the at least one sensor to the at least one object, and acomputational device configured to determine at least one of a tilt, alean, a shift, a rotation, a slide, a position, a movement, and arotation of the at least one object or to determine a change in at leastone of a tilt, a lean, a shift, a rotation, a slide, a position, amovement, and a rotation of the at least one object based on the changeor perturbation detected by the at least one sensor.

In embodiments, the at least one object may comprise at least one of auser, a rider, or a payload. The computational device may be configuredto further determine at least one of a magnitude and a direction inwhich the at least one object shifts, slides, or rotates in order todetermine the tilt, lean or rotation of a user, rider or payload. Thecomputational device may be further configured to use the detected ormeasured movement or perturbation to determine at least one of a centerof mass, a center of gravity, a change in the center of mass, and achange in the center of gravity of the object. The at least one sensormay be configured to perform remote sensing or electromagnetic wavebased sensing. The at least one sensor may comprise a plurality ofsensors configured to detect a plurality of areas of the object. The atleast one sensor may be further configured to detect or measure amagnitude or direction of a movement or perturbation of a piece of theapparatus and the computational device is further configured to use thedetected or measured movement or perturbation to determine at least oneof a tilt, a lean, a shift, a rotation, a slide, a position, a movement,and a rotation of the at least one object or to determine a change in atleast one of a tilt, a lean, a shift, a rotation, a slide, a position, amovement, and a rotation of the at least one object. The computationaldevice may be further configured use the detected or measured movementor perturbation to determine at least one of a center of mass, a centerof gravity, a change in the center of mass, and a change in the centerof gravity of the object.

In an embodiment, an apparatus may comprise a strap configured to holdat least one object, at least one sensor attached to the strap, thesensor configured to detect a change or perturbation of a force on theobject or a distance from the at least one sensor to the at least oneobject, and a computational device configured to determine at least oneof a tilt, a lean, a shift, a rotation, a slide, a position, a movement,and a rotation of the at least one object or to determine a change in atleast one of a tilt, a lean, a shift, a rotation, a slide, a position, amovement, and a rotation of the at least one object based on the changeor perturbation detected by the at least one sensor.

In embodiments, the at least one object may comprise at least one of auser, a rider, or a payload. The computational device may be configuredto further determine at least one of a magnitude and a direction inwhich the at least one object shifts, slides, or rotates in order todetermine the tilt, lean or rotation of a user, rider or payload. Thecomputational device may be further configured to use the detected ormeasured movement or perturbation to determine at least one of a centerof mass, a center of gravity, a change in the center of mass, and achange in the center of gravity of the object. The at least one sensormay be positioned tangential to the strap, perpendicular to the strap,or non-perpendicular to the strap. The strap may be mounted on ahorizontal support structure. The horizontal support structure maycomprise a bed and the strap may be configured to restrain a person.Sensing may be accomplished by at least one sensor comprises a pluralityof sensors, including at least one of measurement devices, physicsmeasuring systems, and remote measurement systems, including weight,distance or other measurable parameters. The strap may be configured toattach the apparatus to a person. The at least one sensor may be furtherconfigured to detect or measure a magnitude or direction of a movementor perturbation of a piece of the apparatus and the computational devicemay be further configured to use the detected or measured movement orperturbation to determine at least one of a tilt, a lean, a shift, arotation, a slide, a position, a movement, and a rotation of the atleast one object or to determine a change in at least one of a tilt, alean, a shift, a rotation, a slide, a position, a movement, and arotation of the at least one object. The computational device may befurther configured use the detected or measured movement or perturbationto determine at least one of a center of mass, a center of gravity, achange in the center of mass, and a change in the center of gravity ofthe object.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of this specification, illustrate several embodiments of theinvention and together with the description, serve to explain theprinciples of the invention.

FIG. 1A shows a generic embodiment of multiple weight sensors in aplatform recording different amounts of force in accordance with thepresent invention;

FIG. 1B shows the generic embodiment of multiple weight sensors in aplatform of FIG. 1A, recording different amounts of force, after themovement of a user, rider, or payload, with the magnitudes of the forceproportional to the lengths of the arrows shown;

FIG. 2A shows a generic 2D embodiment of the invention employingelectromagnetic wave based or remote sensing sensors, sensing distance;

FIG. 2B shows the generic 2D embodiment employing electromagnetic wavebased or remote sensing sensors, sensing distance from FIG. 2A after amovement of a user or rider;

FIG. 3 shows a generic embodiment of a strap method of detecting tilt,lean, movement or rotation of a user, rider, or payload, includingsensors tangential to a strap and sensors perpendicular ornon-perpendicular to a strap;

FIG. 4 an embodiment of a weight or force sensor apparatus of a tilt,lean, movement or rotation detector in the seat area of a personalflight vehicle;

FIG. 5 an embodiment of a weight or force sensor apparatus of a tilt,lean, movement or rotation detector in a radial pattern on the standingplatform as part of a standing personal flight vehicle;

FIG. 6 an embodiment of an electromagnetic wave based sensor apparatusof a tilt, lean, movement or rotation detector on a standing personalflight vehicle;

FIG. 7A an embodiment of a strap method of detecting tilt, lean,movement or rotation of user, rider, or payload with a user, rider,and/or payload on a horizontal type support structure, like a bed;

FIG. 7B is a zoomed in view of a portion of FIG. 7A, highlighting anextremity or payload strap type structure including a sensors, a forceand/or weight structure, parallel with the strap type structure;

FIG. 7C is another zoomed in view of FIG. 7A, highlighting a torso orpayload type strap configuration including sensors parallel to a straptype structure, perpendicular to a strap type structure, andnon-perpendicular to a strap type structure;

FIG. 8 a generic platform embodiment of a weight or force sensor basedapparatus of the present invention situated on a ground in thisembodiment;

FIG. 9 shows an embodiment of the present invention comprising weight orforce sensors on the seat-back portion of a generic chair or sittingdevice;

FIG. 10 shows an embodiment of the present invention employed in achair, or a seated position, or semi-reclined, or reclined support typestructure often used for riders or drivers of vehicles;

FIG. 11 shows an embodiment of the present invention where weight orforce sensors are included in arm rests, on top of and on the inside,and in multiple areas, of the arm rests;

FIG. 12 shows the apparatus of the present invention employed withweight or force and electromagnetic based sensors employed on a personalflight vehicle of a flight suit or flying exoskeleton nature;

FIG. 13 shows the apparatus of the present invention employed withweight or force sensors, as well as electromagnetic sensors, in a chairsimilar to a cockpit, vehicle driver or rider chair;

FIG. 14 shows an embodiment of the apparatus of the present inventionwhere the apparatus is employed in a bed-like, or horizontally based,support structure, where weight or force and electromagnetically basedsensors are employed around a user, rider, or payload on a flightvehicle;

FIG. 15A is a generic 2D embodiment of a flexible mechanismimplementation of the present invention, where a flexible adjoinmentmechanism is used with electromagnetic wave based distance sensors;

FIG. 15B is a generic 2D embodiment of a flexible mechanismimplementation of the present invention, in a state tilted from FIG.15A, where a flexible adjoinment mechanism is used with electromagneticwave based distance sensors;

FIGS. 16A and 16B show a sliding platform embodiment of the presentinvention, in the form a bench-seat structure on a sliding device, whereweight or force or distance may be measured;

FIGS. 17A and 17B show a pivot-point based embodiment of the presentinvention, where a structure is able to tilt and/or rotate on a pivotcapable adjoinment mechanism, where weight, force or distance of thepivotable support structure may be measured;

FIG. 18 shows an embodiment of the present invention where the apparatusconsists of electromagnetic wave based sensors where the electromagneticwave based sensors measure an area encompassed by the sensors;

FIG. 19 shows an apparatus for an embodiment of the present inventioncomprising a slide and pivot-rotate mechanism, where a structuralelement is able to pivot, rotate and/or slide, and weight, force and/ordistance may be measured;

FIG. 20 shows an embodiment of the present invention, where a structuralelement is effected or impacted by a tilt, lean, movement and/orrotation of a user, rider, and/or payload;

FIG. 21 shows an embodiment of the invention where a strap typestructure and a remote and/or electromagnetic wave type sensor are used;

FIG. 22 shows a user, rider, and/or payload on a generic embodiment ofthe present invention employing weight or force type sensors, whereforce magnitudes, distances, a coordinate system and a count of 1 to nsensors are indicated, as well as x and y labeled axis of a coordinatesystem;

FIG. 23 shows a generic platform type embodiment, where a remote sensingor electromagnetic wave type sensor is used, where a potential 3Dmapping that may be created within a computing environment is shown,including a coordinate system; and

FIG. 24 shows a generic strap type structure embodiment of the presentinvention, where forces are shown of a user, rider, and/or payload on astrap type structure.

FIG. 25 shows an exemplary block diagram of a computing device inaccording to embodiments of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

The following details cover embodiments of the present invention, butare not an exhaustive list of embodiments of the present invention.

An apparatus that detects the tilt, lean and/or rotation of a user,rider, and/or payload as described in the present invention may containweight sensors, force sensors, length or distance measuring sensors of amechanical or optical or electromagnetic wave based or remote sensingvariety, optical or electromagnetic wave based or remote sensing sensorsthat map a 3D area or volume that may contain some or all of a user,rider, and/or payload, optical or electromagnetic wave based or remotesensing sensors that measure the density of an object and may includeradar, laser, lidar, x-ray, or other remote sensing sensors ormethodologies, sonar or magnetic sensors that otherwise determine alean, tilt, movement and/or rotation of a user, rider, or payload, orother sensors which individually or in combination, determine the tilt,lean, or rotation of a user, rider, or payload as described in thepresent invention. Additional sensor methods may include flexibleconnection mechanisms, pivot mechanisms, sliding mechanisms or otherhard or fixed, flexible or mobile or other mechanisms, that allow a partof the structure of a vehicle or system to lean, tilt, move and/orrotate based on the tilt, lean, movement and/or rotation of a user,rider, and/or payload, and to have that perturbation detected by anysensing types described within the present invention or that accomplishthe same purpose. This is not an exhaustive list of potential sensors orsensor type that fall within the scope of the apparatus described in thecurrent invention.

Sensors as described above or that accomplish similar functions may bepositioned beneath where a user, rider, or payload rests, adjacent toand/or surrounding or above where a user, rider, or payload is, and/orwithin or connected to straps that are around a user, rider, and/orpayload, and/or straps that are connected to, between or aroundmechanical structures of a vehicle which receive, detect or are effectedor impacted by a lean, tilt, movement and/or rotation of a user, rider,and/or payload. This is not an exhaustive list of potentialconfigurations or locations of sensing devices that fall within thescope of the apparatus described in the current invention.

Sensors may also be on, in, or otherwise a part of other pieces of avehicle or system employing the apparatus described in the presentinvention. For example, an apparatus as described within the presentinvention may be comprised of sensors on a wing of a flight vehicle,facing in and using remote sensing to detect movement of a user, or forexample on the hood of a car, detecting with remote sensing, movement ortilting of a payload within or on top of a car, or for example on afloor, wall and/or ceiling, detecting movement, tilt, lean and/orrotation and/or center of mass and/or change in center of mass of auser, rider, or payload. This is not an exhaustive list of potentialconfigurations or locations of sensing devices that fall within thescope of the apparatus described in the current invention.

Above mentioned sensors, or other sensors that accomplish the samepurpose, positioned in the above mentioned manner, or another mannerthat accomplishes the same purpose, are used to determine a tilt, lean,movement and/or rotation of a user, rider, or payload by detecting atleast one of weight, force, position, location, 3D density or locationmap, or change in weight, force, position, location, 3D density orlocation map—such that if a set of sensors is currently measuring theforce of a payload on that sensor or other metric as in a quantity thatis measured by any of the above mentioned sensors, where each sensormeasures a certain force, and then the user, rider, and/or payloadtilts, leans, moves and/or rotates, each individual force sensor thendetects a different force—and the change in tilt, lean, movement, and/orrotation, or position, of the user, rider, or payload is determined.

Onboard computational capabilities may have a continuous estimation of aposition, lean, tilt, and/or rotational orientation or center of mass ofa user, rider, and/or payload, and this may be continuously updatedevery second, millisecond or other time interval, and when a changeoccurs, a new estimate of a position, lean, tilt, and/or rotationalorientation or center of mass of a user, rider, and/or payload may becalculated. Additionally, the detected change, and accompanying metrics,such as weight or force on certain sensors and/or center of mass change,direction and/or magnitude of change, likewise change in distance,position, 3D mapping, or otherwise, may be passed directly to anotheralgorithm, such as another control algorithm on a vehicle, or anotheralgorithm or computer body of part of a system.

If sensors are positioned adjacent to a user, rider, or payload, thesensors may experience no force, until a user, rider, or payload tiltsinto adjacent sensors, and then the sensors record a force, and a newposition of a rider, user and/or payload, or tilt, lean, movement and/orrotation of is user, rider, and/or payload is determined.

Likewise, in a similar fashion, remote sensors employed around a user,rider, and/or payload may detect a distance from a set point to a user,rider, and/or payload, such that if a user, rider, and/or payload tilts,leans, moves and/or rotates, the change in distance for each sensormeasurement is determined, and this is used to determine a tilt, lean,movement and/or rotation of a user, rider, and/or payload.

Likewise, if a strap is on, around or connected with a user, or a onstructural part of a vehicle or system that is effected or impacted by atilt, lean, movement and/or rotation of a user, rider, and/or payload,the measurements from such sensors, and the measurements from suchsensors following a tilt, lean, movement and/or rotation of a user,rider, and/or payload, may be used to determine a tilt, lean, movementand/or rotation of a user, rider, and/or payload, and/or center of massand/or change in center of mass, where change may include directionand/or magnitude.

If a structural part of a vehicle or system is effected or impacted by atilt, lean, movement and/or rotation of a user, the tilt, lean, movementand/or rotation of this part of a vehicle or system may be detectedusing any of the sensing methods described herein, or other methods, inorder to determine a tilt, lean, movement and/or rotation of user,rider, and/or payload, and/or center of mass and/or change in center ofmass, where change may include direction and/or magnitude.

In the following description of the present invention reference is madeto the exemplary embodiments illustrating the principles of the presentinvention and how it is practiced. Other embodiments will be utilized topractice the present invention and structural and functional changeswill be made thereto without departing from the scope of the presentinvention.

The present invention comprises an apparatus for the detection of atleast one of the tilt, lean, movement, rotation, or change in tilt,lean, movement, or rotation of a user, rider, and/or payload bydetecting any of the above with sensors, positioned to determine any ofthose movements. This may include detecting and/or determining thecenter of mass, or change in center of mass, of the user, rider, and/orpayload or detecting or determining the center of mass, or change incenter of mass, of the system comprising a user, rider, and/or payloadand the vehicle or system containing a user, rider, and/or payload.

Sensors may be devices which measure, determine, or observe or areaffected by a change in something measurable or detectable around on ornear them, and may be positioned beneath where a user, rider, and/orpayload rests, either in a platform, a structure, a strap, a seatingarea as with sensors built into a seat, or standing as with sensorsbuilt into a standing platform, built into armrests, built intofootwells of a user, rider, or passenger area, and/or built into wallsto detect the lean of a user, rider, or payload.

Sensors may also be near to a user, rider, and/or payload, with sensorsable to detect, from the side, or not directly underneath, a user,rider, and/or payload, the change in tilt, lean, or rotation, and maydetermine the center of mass or change in center of mass of the userrider and/or payload. In addition to, or when sensors are not, beneath auser, rider, and/or payload, sensors may be built into the cabin (as inan airplane cockpit cabin for example) around the user, rider, orpayload—may be in footwells where the user or riders feet may be when ina sitting or standing position, or may be embedded into the body of avehicle, such that with optical, electromagnetic or other sensors, thesensors can detect, remotely and without toughing the user, rider, orpayload, the tilt, lean and/or rotation, or change in tilt, lean and/orrotation, of the user, rider, or payload.

Detecting the tilt, lean, or rotation of a user, rider, or payload usingsensors as described in the present invention may entail a weight sensorunder one part of the user, rider, or payload sensing an increase inweight, whereas another sensor detects a decrease in weight—and thusdetermines a tilt, lean, or rotation, and may detect the center of massor change in center of mass, of the user, rider, or payload. In thiscase, weight as detected by the sensors is considered to be the forcethe sensor detects, from supporting the payload, where this force can bemeasured and analyzed in Newtons.

Additionally, detecting the tilt, lean, or rotation of a user, rider, orpayload using sensors as described in the present invention may entail aweight sensor near to the user, rider, or payload sensing an increase inweight, whereas another sensor detects a decrease in weight—such that ifthe sensors are next to the user, rider, or payload, contained withinarmrests or interior walls of a cabin or cockpit in which the user,rider, or payload is, a sensor on one side of the user, rider, orpayload may detect the user, rider, or payload leaning into thatsensors, or increasing the weight with which the user, rider, or payloadexerts on that sensors, thereby detecting a tilt, lean, or rotation of auser, rider, or payload.

Furthermore, in the case where optical or electromagnetic sensors orother remote sensor devices are used, or other sensors capable or remotesensing, the sensors may be mounted such that they are not touching theuser, rider, and/or payload, and they may, by sensing the location ofthe user, rider, or payload, observe a change in position of the user,rider, or payload by mapping the 3-dimensional space where the user,rider, or payload may be, or measuring linear (or other type of distanceor metric) from the sensor location or another set-point, to many pointswithin the space of where a user, rider, or payload may be, and bydetecting changing of position within that area, use that change ofposition information to inform calculations that determine a center ofmass, or a continually updated center of mass, of the user, rider, orpayload.

Beyond the weight sensors, electromagnetic wave based sensors and othersensors as described, straps with tension, stress, stretch or othersensors may be employed to determine the tilt, lean, rotation, movement,or change in tilt, lean, movement or rotation of a user, rider, orpayload. By determining different amounts of tension or amount of forceat the base of straps, or through weight or force sensors within thestraps, either perpendicular to the straps or otherwise not tangentialto the straps, either detecting force tangentially along the strap orinward or outward facing into the user, rider, or payload, the tilt,lean, movement or rotation or change in tilt, lean, movement or rotationof a user rider or payload, and the center of mass or change in centerof mass, may be determined.

Other sensors may accomplish similar objectives as the optical orelectromagnet wave based sensors—magnetic sensors may detect a change inmagnetic or electric field, and thus determine a change in position of auser, rider, or payload—as one, of many, potential examples, notexpressly presented here.

Additionally, multiple methods of detecting a tilt, lean, or rotation ofa user, rider, or payload may be enacted concurrently. A seat withweight sensors, in combination with an optical sensor to map the3-dimensional space of where a user, rider, or payload is, may combinethe results of each sensor or set of sensors. This may provide moreaccurate tilt, lean, rotation, center of mass or change in tilt, lean,rotation or center of mass determinations, or may provide redundantmethods of making these determinations—adding trustworthiness to theresults, and/or providing backup information in the case that anothersensing method encounters an error.

Specifically, and in addition to sensors, positions and combinationsthereof described above, an embodiment of the present invention maycomprise sensors, in the format, pattern, or location of: single sensor,as for example a platform on a spring or pivot point, a grid of sensors,a plurality of sensors in multiple areas, sections, quadrants orlocations, a polar-coordinate based set of sensors, and/or a combinationof multiple locations.

A non-exhaustive list of usable sensors may include: sensors that detectweight or change in weight, sensors that detect distance or change indistance, mechanical sensors such as a rod where the amount of theextension of the rod is measured or the weight or force that the rodexperienced is measured, weight sensors including magnetometers,accelerometers, springs, hydraulics or other mechanical components,sliding bases mechanisms, where a portion of a seat or another part ofan apparatus as described within is able to slide and/or rotate and thedegree to which it slides or rotates is used in determining tilt, lean,or rotation of a user, rider, or payload, sensors with sliding orflexing components, where a part of a seat, seat back, standing platformcan slide in a direction, or flex in a direction, whereby a movement ofa piece of the apparatus, in magnitude, direction, or if there is aperturbation in that piece, is measured or detected, and thatmeasurement or detected movement is used in determining the tilt, lean,or rotation, or change in tilt, lean, or rotation, of a user, rider, orpayload—gyroscopes or accelerometers or acceleration or sudden movementor change in movement based sensors, a combination of multiple sensors,and/or other mechanical sensors that perform the duties required to meetthe needs of the present invention.

One or more sensors may be also be placed, positioned and/or embedded:in the seat of a vehicle, may be in the form of a platform on a which auser, rider, or payload, rests, stands or is otherwise supported, may bein the seat-back of a seat, or mechanical structure on which a user,rider of payload leans, or tilts against, may be the interior orexterior walls of an enclose in which the user, rider, or payload is,may be built into the handle section or the mechanical support sectionof controls used with a vehicle employing or containing an apparatus asdescribed in the present invention

Additionally, sensors may be placed on straps or other mechanicalconnection devices, either directly on or around a user, rider, orpayload, or connected to or on or around a structural element, that iseffected or impacted by tilt, lean, movement or rotation, or change intilt, lean, movement, or rotation of a user, rider, or payload. Onstraps on or around a user, rifer or payload, sensors may be eithertangentially along the straps, to detect increasing tension in a strap,or increasing force at the edges of a strap, where the strap isconnected to another part of a structure, or may be placed perpendicularto, or otherwise not tangential or parallel with the strap, in order todetermine tilt, lean, movement, rotation, or change in tilt, lean,movement, or rotation, of a user, rider, or payload. Straps may beplaced around any part of a user, rider, or payload, or may be placedaround any part of a structure of the system that is effected orimpacted by tilt, lean, movement or rotation, or change in tilt, lean,movement, or rotation of a user, rider, or payload. The sensors mayinclude weight, force or tension sensors, as well as distance measuringsensors and/or electromagnetic wave based sensors, or other sensors. Theinputs from the sensors in strap of mechanical connection devices orstructures can be used, individually or in combination, to determinetilt, lean, movement or rotation, or change in tilt, lean, movement, orrotation of a user, rider, or payload.

Where other sensors such as: cameras or image sensors that optically areused to determine the tilt, lean, or rotation of a user, rider, orpayload (where image sensors may be considered remote sensing sensors),where cameras of optical sensors may determine the location, change oflocation, or tilt, lean, or rotation of one or more parts of the user,rider, or payload, where electromagnetic wave bases sensors are used todetermine the tilt, lean, or rotation of a user, rider, or payload,where electromagnetic wave bases sensors are used to determine thelocation, change of location, or tilt, lean, or rotation of one or moreparts of the user, rider, or payload, radar or lidar bases sensors,sensors that can measure the weight or density of a materials or maymake these determinations through remote sensing, x-ray type sensors,other remote sensing devices, and/or a combination of multipleelectromagnetic and/or mechanical and/or other sensors.

In addition to including them within piece of a structure, the presentinvention may be accomplished by other formats of sensors, in additionto the locations described above, these sensors may be placed: on asurface of a vehicle, platform of system, or placed on a wing, hangingsupport structure or vertically mounted support structure on a flightvehicle or personal flight suit or exoskeleton.

Additionally, the detection of tilt, lean and/or rotation of a user,rider, or payload may be determined by a non-fixed portion of a vehicle,platform or system, that tilts and/or rotates relative to anotherportion of the vehicle, platform or system, which detects, by tilting orrotating relative to the other portion of the vehicle, platform orsystem—the tilt, lean, or rotation of a user, rider, or payload—andwhere this movement of a piece of a vehicle, platform and/or system maybe detected in any of the above manners.

Where each, any, and all combinations of any, and all, of the abovespecified methods of sensor pattern, type, location, and/or methodologyis an embodiment of the present invention, but not an exhaustive list ofembodiments of the present invention.

For determining a location and/or position, and/or relative position ofa user, rider, and/or payload may be calculated, or the amount anddirection of a tilt, lean, movement and/or rotation of a user riderand/or payload may be a direct input into another control algorithm ormethod employed by a vehicle or system (the tilt, lean, movement and/orrotation may not be directly calculated by the present invention, butdetected and quantified, and passed to another control algorithm).Either of these comprise detecting tilt, lean, movement and/or rotationof a user, rider, and/or payload, and this are within the scope of theapparatus of the present invention (although not exhaustive of the scopeof the present invention).

A tilt, lean, movement and/or rotation or a change in tilt, lean,position and/or rotation of a user, rider, or payload is determined bysensors having a current measurement of weight, force, distance, length,position or 3D mapping, and at a subsequent time interval, or adifferent quantity is measured, this difference is used to determine annew (and now current, after this movement) tilt, lean, movement and/orrotation or a change in tilt, lean, position and/or rotation of a user,rider, or payload.

A continuous control loop may be used, where sensors record a tilt,lean, position of a user, rider, and/or payload every second,millisecond, or other time interval, or an updated if measured tacticmay be used, where an update is only made if a sensor records a newdetection, or a detection above a threshold value.

FIG. 1A shows a generic embodiment of multiple weight sensors in aplatform recording different amounts of force, before a movement of auser, rider, or payload, with the magnitudes of the force proportionalto the lengths of the arrows shown.

FIG. 1B shows the generic embodiment of multiple weight sensors in aplatform of FIG. 1A, recording different amounts of force, after themovement of a user, rider, or payload, with the magnitudes of the forceproportional to the lengths of the arrows shown, where the amount offorce and changing amount of force detected by the sensors can be usedto determine a tilt, lean, movement or rotation of a user, rider, orpayload.

1.1 shows sensors, including weight or force sensors; 1.2 shows forcelines, of lengths proportional to the amount of force detected by theforce sensors, 1.3 a generic platform based embodiment of the presentinvention, housing force sensors in a grid type pattern, 1.4 shows thechanging quantities of force measured by sensors, before and after atilt, lean, movement and/or rotation of a user, rider, and/or payload.

To elaborate, FIG. 1A shows a generic embodiment of the presentinvention housed in a platform using force sensors—where the length ofthe arrows 1.2 is proportional to the force measured by the sensors 1.1,where the force sensors 1.1 detect the force exerted by the user, rider,and/or payload, and the detected force 1.2 is a quantity, and that valueis then used in a calculation; where in for example FIG. 1A, the user,rider, and/or payload is in a given position, that yields the forces asshown 1.2 prior to a tilt in FIG. 1A, and a user, rider, and/or payloadtilts, leans, moves, and/or rotates, the updated forces detected by thesensors 1.2 in FIG. 1B detect different forces, and these new forces maybe used in a calculation of a new or updated tilt, lean, position,and/or rotation or center of mass, based on the change in tilt, lean,movement and/or rotation of a user, rider, and/or payload. Increasingforces measured by a sensor 1.4 during the course of a tilt or movement,captured in 1.4, in a user indicate that more of the center of mass maybe shifting to the area above that or those sensors. The summation ofchanging forces per sensor, 1.4 highlighting the effect, movement, ononly one sensor, may inform the estimated new tilt, angle, positionand/or rotation and/or center of mass of a user, rider, and/or payload,and may be an input to equations used in determining an updated tiltand/or center of mass. The quantities of the forces, per sensor, arecombined using typical and/or complex mathematical functions, and mayyield a new estimate for a center of mass of a user, rider, and/orpayload.

Furthermore, a new position, or tilt, lean, and/or rotation may not becalculated, but instead the measured difference of the sensors may bepassed directly to a control algorithm, or other control mechanism, andthusly, by detecting the tilt, lean, movement and/or rotation, theapparatus enacts it's detection of tilt, lean, movement and/or rotationof a user, rider, and/or payload, and thusly is considered within thescope of the present invention.

FIG. 2A shows a generic 2D embodiment employing electromagnetic wavebased or remote sensing sensors, sensing distance, showing the distancesmeasured by two sensors from an initial fixed point, in this case thesensors, to a user, rider, or payload.

FIG. 2B shows the generic 2D embodiment employing electromagnetic wavebased or remote sensing sensors, sensing distance, showing the distancesmeasured by two sensors from an initial fixed point of FIG. 2A, after amovement of a user or rider, where the length of the dashed line arrowis proportional to the distance measured by the sensor, where theincreasing and/or decreasing distances measured by different sensors isused in determining tilt, lean, movement or rotation of a user, rider,or payload.

2.1 shows sensors, including remote sensing or electromagnetic wavebased sensors, 2.2 shows measures of distance between a fixed point anda user or rider, in this case they are linear distances, distance ismeasured to all points or many points of the user or rider, dashed lineshows distance to one point of user, rider, and/or payload, 2.3 shows ageneric embodiment of the apparatus involving remote sensing and/orelectromagnetic wave based sensing, 2.4 shows changing quantities ofmeasures of distance measured by sensors, before and after a tilt, lean,movement and/or rotation of a user, rider, and/or payload, 2.5 shows auser, rider, and/or payload.

In a similar manner as consistent with present invention, the specificchanging distance measurements 2.4 shown in FIG. 2 can be inputs toequations to determine tilt, lean, movement and/or rotation and/orchange in tilt, lean, position and/or rotation. When a user, rider,and/or payload 2.5 tilts, the measured distances 2.3 between a fixedpoint and the user, rider, and/or payload 2.5 as determined by remotesensing and/or electromagnetic sensors 2.1 is used to determine a newtilt, lean, position and/or rotation of a user, rider, and/or payload.In a similar manner as above, likewise, an exact new tilt, positionand/or center of mass is not required to be determined, but thequantities measuring the change in position, or relative change inposition 2.4 may be passed to another control algorithm or mechanism ona vehicle or system employing the apparatus of the present invention.

FIG. 3 shows a generic embodiment of a strap method of detecting tilt,lean, movement or rotation of a user, rider, or payload, includingsensors tangential to a strap and sensors perpendicular ornon-perpendicular to a strap, where the forces or distances measured bythe sensors may be considered changing in a manner as in FIG. 1, wherethe amount of force or distance or change in force or distance insensors can be used to determine tilt, lean, movement or rotation of auser, rider, or payload.

3.1 shows sensors, including weight or force sensors, that may betangential to or parallel with a strap type structure, or may beperpendicular to, or non-perpendicular to, a strap type apparatus, 3.2shows measures of weight or force from sensors; user, rider, and/orpayload tilt, lean, movement and/or rotation effects the strap typeapparatus which is detected by the sensors; forces may be parallel 3.18with a strap type structure, perpendicular 3.19 to a strap typestructure and/or non-perpendicular or non-parallel 3.20 to a strap typestructure, 3.3 shows a generic embodiment of a strap type structureembodiment of the present invention, 3.7 shows a strap type structure,3.14 shows where a user, rider, and/or payload may be, 3.18 shows asensor parallel to a strap type structure, which may be within thestrap, or where a strap type structure joins or connects with anotherpart of a structure of a system employing an embodiment of the presentinvention, 3.19 shows a sensor perpendicular to a strap type structure,3.20 shows a sensor non-perpendicular to a strap type structure.

FIG. 4 shows an embodiment of a weight or force sensor apparatus of atilt, lean, movement or rotation detector in the seat area of a personalflight vehicle.

4.1 shows sensors, including weight or force sensors, 4.3 shows anembodiment of the invention within a sitting based personal flightvehicle, 4.6 shows a seat style embodiment of the present inventioncontaining weight or force sensors, mounted on a flight vehicle, 4.7shows personal flight vehicle, 4.14 shows where a user, rider, and/orpayload may be, 4.27 shows a propulsive device, as in a propeller forexample, as indicated in drawings, may be any propulsive or propulsiondevice.

FIG. 5 shows an embodiment of a weight or force sensor apparatus of atilt, lean, movement or rotation detector in a radial pattern on thestanding platform as part of a standing personal flight vehicle.

5.1 shows sensors, including weight or force sensors, 5.3 shows anembodiment of the invention within a standing or kneeling or otherposition flight vehicle, 5.6 shows a standing platform style embodimentof the present invention, with sensors in a radial pattern, where a setof sensors is embedded into a circular plane, and embedded into astanding platform, 5.7 shows a standing or sitting or kneeling or otherposition based flight vehicle.

FIG. 6 shows an embodiment of an electromagnetic wave based sensorapparatus of a tilt, lean, movement or rotation detector on a standingpersonal flight vehicle; it is highlighted in here that electromagneticwave based sensors may detect versus many areas of a user rider,payload, by the dashed sensor sensing lines pointing to multiple areasof a user or rider.

6.1 shows sensors, including remote sensing or electromagnetic wavebased sensors, 6.2 shows measurements taken from the sensors 6.1 to theuser 6.5, here, multiple measurements are shown; typically sensors 6.1take measurement to many points on the user 6.6, and may map an entire3D representation of the user 6.5 in a virtual space as part of acomputer framework as part of the apparatus or system which it may be apart of or used with, 6.3 shows an embodiment of the invention within astanding, potentially laterally oriented relative to the longer axis ofthe flight vehicle, flight vehicle, 6.5 shows a user, rider, and/orpayload, 6.7 shows a standing or other position based flight vehicle.

FIG. 7A shows an embodiment of a strap method of detecting tilt, lean,movement or rotation of user, rider, or payload, where strap typestructures may include tangential sensors as well as perpendicular ornon-parallel sensors; this embodiment is of a user, rider, and/orpayload on a horizontal type support structure, like a bed.

FIG. 7B is a zoomed in view of a portion of FIG. 7A, highlighting anextremity or payload strap type structure including a sensors, a forceand/or weight structure, parallel with the strap type structure.

FIG. 7B is another zoomed in view of FIG. 7A, highlighting a torso orpayload type strap configuration including sensors parallel to a straptype structure, perpendicular to a strap type structure, andnon-perpendicular to a strap type structure.

7.1 shows sensors, including weight or force sensors, including sensorsparallel to, perpendicular to, and non-perpendicular to a strap typestructure 7.7, 7.3 shows an embodiment of the invention where a straptype structures with sensors are used, around, on or attached to a user,rider, and/or payload in a horizontally based, planar based and/orreclined based position, 7.5 shows a user, rider, and/or payload, 7.7shows a strap type structure, including sensors, 7.13 shows a supportstructure that may be used for a rider and/or payload where the supportstructure may be soft, and enable the rider to be in a reclined or fullyreclined or lying down position.

FIG. 8 shows a generic platform embodiment of a weight or force sensorbased apparatus of the present invention, this platform embodiment issituated on a ground in this embodiment, but may be placed on a vehicle,platform, or other within a system different than a ground.

8.1 shows sensors, including weight or force sensors, 8.3 shows anembodiment of the invention in a platform based format, where theplatform is on a ground, or a flat or semi flat surface, which may be afloor, wall, curved wing type shape or otherwise, 8.7 shows a ground, aflat or semi flat surface.

FIG. 9 shows an embodiment of the present invention comprising weight orforce sensors on the seat-back portion of a generic chair or sittingdevice.

9.1 shows sensors, including weight or force sensors, 9.3 shows anembodiment of the present invention in the seat-back portion of a chairor seated structural support type of device, 9.7 shows a chair or seatedstructural support type of device.

FIG. 10 shows a more detailed embodiment of the present inventionemployed in a chair, or a seated position, or semi-reclined, or reclinedsupport type structure, where the chair is more typical of seatedsupport structures often used for riders or drivers of vehicles; weightor force sensors in the main support areas of the structure, seat andseat-back, as well as side areas of the structure, pieces of the chairthat may provide lateral or head support, are shown.

10.1 shows sensors, including weight or force sensors, 10.3 shows anembodiment of the present invention in a seat or seat-type structuralsupport type of device, which may include lateral or side support typestructures, where the chair may be in a reclined or semi reclinedposition, 10.7 shows a seat or seat-type structural support type ofdevice, which may include lateral or side support type structures, wherethe chair may be in a reclined position, 10.8 shows lateral or sidesupport type structures, which may include sensors.

FIG. 11 shows an embodiment of the present invention where weight orforce sensors are included in arm rests, on top of and on the inside,and in multiple areas, of the arm rests.

11.1 shows sensors, including weight or force sensors, including sensorsinside the arm rests, facing where a user, rider, and/or payload may bestored, adjacent to and/or surrounding where user, rider, and/or payloadmay go, 11.3 shows an embodiment of the present invention in a seat orseated structural support type of device, which may include arm restswhich may also act as lateral or side support type structures, where thechair may be in a reclined position, 11.7 shows a seat or seat-typestructural support type of device, which may include arm rests which mayalso act as lateral or side support type structures, where the chair maybe in a reclined or semi reclined position, 11.8 shows arm rests, wherearm rests may also act as lateral or side support structures.

FIG. 12 shows the apparatus of the present invention employed withweight or force and electromagnetic based sensors employed on a personalflight vehicle of a flight suit or flying exoskeleton nature.

12.1 shows sensors, including weight or force sensors and remote sensingor electromagnetic wave based sensors, used at the same time, includingin a side embodiment 12.9, on which a user, rider, and/or payload maylean, and a standing portion 12.10, on which a user, rider, and/orpayload may stand, 12.2 shows distance measurements shown from remotesensing or electromagnetic wave based sensors to user, rider, and/orpayload, only one point of measurement is shown with the dashed arrows,but distances to multiple points of the user are measured, and may mapan entire 3D representation of the user, rider, and/or payload 12.5 in avirtual space as part of a computer framework as part of the apparatusor a system it is part of, 12.3 shows an embodiment of the presentinvention where the apparatus is used in a personal flight exoskeletonor personal flight suit type embodiment, 12.5 shows a user, rider,and/or payload; a user, rider, and/or payload may be taller than theexample shown in 12.5 and may be taller than the exoskeleton device12.7, 12.7 shows personal flight exoskeleton or flight suit typeembodiment, 12.9 shows an embodiment of the present invention where theapparatus is set up in a position that is vertical, where a user, rider,and/or payload may lean into it, 12.10 shows an embodiment of thepresent invention where the apparatus is set up in a position that ishorizontal, where a user, rider, and/or payload may stand on it, whilealso leaning against another part of a vehicle, where the vehicle isemploying the apparatus of the present invention in one or more areas.

FIG. 13 shows the apparatus of the present invention employed withweight or force sensors, as well as electromagnetic sensors, in a chairsimilar to a cockpit, vehicle driver or rider chair, where sensors areincluded around and above a user, rider, or payload, where a mechanicalstructure may be above a user rider or payload, where that may be openair with roll bars or a glass enclosure.

13.1 shows sensors, including weight or force sensors and remote sensingor electromagnetic wave based sensors, used at the same time, includingside embodiments 13.9, into or on which a user, rider, and/or payloadmay lean, as well as adjacent and above remote sensing orelectromagnetic wave based sensors 13.11 as well as foot well areasensors 13.12, 13.2 shows distance measurements shown from remotesensing or electromagnetic wave based sensors to the area where a user,rider, and/or payload may be, only one point of measurement is shownwith the dashed arrows, but distances to multiple points of the user,rider, and/or payload may be measured, and may map an entire 3Drepresentation of the area where a user, rider, or payload may be in avirtual space as part of a computer framework as part of the apparatusor system it is part of, 13.3 shows an embodiment of the presentinvention where the apparatus is employed within a cockpit like setting,where sensors, weight and/or force and/or remote sensing and/orelectromagnetic wave based sensors are used, 13.7 shows a cockpit typeenvironment, 13.9 shows side mounted sensors, 13.11 shows adjacentand/or peripheral and/or overhead sensors, 13.12 footwell area sensors.

FIG. 14 shows an embodiment of the apparatus of the present inventionwhere the apparatus is employed in a bed-like, or horizontally based,support structure, where weight or force and electromagnetically basedsensors are employed around a user, rider, or payload on a flightvehicle.

14.1 shows sensors, including weight or force sensors and remote sensingor electromagnetic wave based sensors, used at the same time, includingadjacent and above remote sensing or electromagnetic wave based sensors,14.2 shows distance measurements shown from remote sensing orelectromagnetic wave based sensors to user, rider, and/or payload, onlyone point of measurement is shown with the dashed arrows, but distancesto multiple points of the user are measured, and may map an entire 3Drepresentation of the user 14.5 in a virtual space as part of a computerframework as part of the apparatus or system it is part of, 14.3 showsan embodiment of the present invention where the apparatus is employedin a flight vehicle where a user or rider may be transported in ahorizontal, reclined, partially reclined or fully reclined position,14.5 shows a user, rider, and/or payload, the rider in a horizontal,relined or semi recline position, and may be injured or non-injured,14.7 shows a flight vehicle where a rider is reclined and may be injuredor non-injured, 14.11 shows adjacent and/or peripheral and/or overheadsensors, where sensors may be elongated or more even rectangles or anyshape, 14.13 shows a support structure that may be used for a riderwhere the support structure may be soft, and enable the rider to be in areclined or fully reclined or lying down position.

FIG. 15A shows a generic 2D embodiment of a flexible mechanismimplementation of the present invention, in a state tilted from FIG.15A, where a flexible adjoinment mechanism is used with electromagneticwave based distance sensors to determine the tilt, lean, movement orrotation of a structure of a vehicle or system where that structure iseffected or impacted by a tilt, lean, movement and/or rotation of auser, rider, or payload, where the flexible mechanism may also determineamount and/or rate and/or degree of bend.

FIG. 15B shows a generic 2D embodiment of a flexible mechanismimplementation of the present invention, where a flexible adjoinmentmechanism is used with electromagnetic wave based distance sensors todetermine the tilt, lean, movement or rotation of a structure of avehicle or system where that structure is effected or impacted by atilt, lean, movement and/or rotation of a user, rider, or payload, wherethe flexible mechanism may also determine amount and/or rate and/ordegree of bend where sensors measure a different distance after a tilt,lean, movement or rotation, where the distance measured by the sensorsis proportional to the dashed arrows shown, where the distancedetermined by the sensors is used to determine a tilt, lean, movementand/or rotation of a user, rider, or payload.

15.1 shows sensors, including weight or force sensors and remote sensingor electromagnetic wave based sensors, used potentially at the sametime, including a flexible mechanical structure that bends and maysenses a degree of bend and may detect the rate of bend, 15.2 showsdistance measurements shown from remote sensing or electromagnetic wavebased sensors to a structural part of a vehicle that is effected orimpacted by a lean, tilt, movement and/or rotation of a user, rider,and/or payload, 15.3 shows a generic embodiment of the presentinvention, where a structural element is effected or impacted by a tilt,lean, movement and/or rotation of a user, rider, and/or payload, 15.4shows changing quantities of measures of distance measured by sensors,before and a tilt, lean, movement and/or rotation of a user, rider,and/or payload, 15.7 shows a structural element that may be effected orimpacted by a tilt, lean, movement and/or rotation of a user, rider,and/or payload, 15.14 shows location where a user, rider, and/or payloadmay be.

FIG. 16 shows a sliding platform embodiment of the present invention, inthe form a bench-seat structure on a sliding device, where weight orforce or distance may be measured on the sliding device in order todetermine tilt, lean, movement and/or rotation of a user, rider, orpayload.

16.1 shows sensors, including remote sensing or electromagnetic wavebased sensors, where the sensor is blocked from view in FIG. 16B, 16.3shows an embodiment of the present invention where a sliding or lateralmovement with optional rotational movement is used, 16.14 shows where auser, rider, and/or payload may go, 16.15 shows sliding mechanismallowing a structural aspect of the system that is effected or impactedby tilt, lean, movement and/or rotation of a user, rider, and/or payloadto move relative to another part of the structure of the vehicle orsystem, 16.19 shows a structural aspect of the system that is effectedor impacted by tilt, lean, movement and/or rotation of a user, rider,and/or payload to move relative to another part of the structure of thevehicle or system.

FIG. 17 shows a pivot-point based embodiment of the present invention,where a structure is able to tilt and/or rotate on a pivot capableadjoinment mechanism, where weight, force or distance of the pivotablesupport structure may be measured in order to determine a tilt, lean,movement and/or rotation of a user, rider, or payload, where rotation isshown before and after a tilt and/or rotation of a user, rider, orpayload through the angle theta and theta prime, for the angle oforientation before and after a tilt, lean, movement and/or rotation.

17.1 shows sensors, including remote sensing or electromagnetic wavebased sensors, 17.2 shows measures of distance between a fixed point anda user or rider, in this case they are linear distances, distance ismeasured to all points or many points of the user or rider, dashed lineshows distance to one point of user, rider, and/or payload, 17.3 showspivot enabled embodiment, 17.4 shows changing quantities of measures ofdistance measured by sensors, before and after a tilt, lean, movementand/or rotation of a user, rider, and/or payload, 17.5 shows a payload,which may be a user, rider, and/or payload, 17.16 shows an angle thetaand theta prime denoting the amount of rotation after a tilt, lean,movement and/or rotation, 17.17 highlights a point of reference on FIG.17A and FIG. 17B to highlight rotation of a structural component of avehicle as captured by angle 17.16, theta, 17.20 shows a pivot type ofpoint or fulcrum type of structure or other structure from hard materiallike metal or flexible material like rubber, may be a hinge typemechanism, a floating mechanism that may involve magnets and/or balljoints, large surface areas upon large surface areas, or other methodsallowing mobility.

FIG. 18 shows an embodiment of the present invention where the apparatusconsists of electromagnetic wave based sensors where the electromagneticwave based sensors measure an area encompassed by the sensors, where ifa user or payload was within that area, the sensors would be determinetilt, lean, movement or rotation of a user or payload; in thisembodiment, the sensors are on a ground; an apparatus as shown wouldalso function in a non-horizontal orientation, on a wall or ceiling forexample, or on a vehicle, or in combination with weight or force ofstrap of other sensors.

18.1 shows sensors, including remote sensing or electromagnetic wavebased sensors, 18.2 shows distance measurements shown from remotesensing or electromagnetic wave based sensors to the area where a user,rider, and/or payload may be, only one point of measurement is shownwith the dashed arrows, but distances to multiple points of the user,rider, and/or payload may be measured, and may map an entire 3Drepresentation of the area where a user, rider, or payload may be in avirtual space as part of a computer framework as part of the apparatusor the system it is part of, 18.3 shows an embodiment of the inventionin a remote sensing, and/or electromagnet based sensors attached to aground or surface or flat or somewhat flat surface, format, 18.7 shows aground, a flat or semi flat surface, 18.14 shows a location where auser, rider, and/or payload may be.

FIG. 19 shows an apparatus for an embodiment of the present inventioncomprising a slide and pivot-rotate mechanism, where a structuralelement is able to pivot, rotate and/or slide, and weight, force and/ordistance may be measured, on that slide, rotate and/or pivot, which maybe used to determine a tilt, lean, movement or rotation; a structuralelement with these capabilities is shown above and then on a fulcrumtype of structure, one of multiple methods enabling these capabilities.

19.1 shows sensors, including weight or force sensors and remote sensingor electromagnetic wave based sensors, potentially used at the sametime; sensors may also include accelerometers or other movement basedsensors, 19.2 shows distance measurements shown from remote sensing orelectromagnetic wave based sensors to a structural part of a vehiclethat is effected or impacted by a lean, tilt, movement and/or rotationof a user, rider, and/or payload, 19.3 shows an embodiment of thepresent invention, where a structural element is effected or impacted bya tilt, lean, movement and/or rotation of a user, rider, and/or payloadsuch that this is detected by sensors as described in the invention,where this format of the present invention is employed in a flight typevehicle, 19.5 shows where a user, rider, and/or payload may be, 19.7shows a flight vehicle type device, 19.19 shows a structural aspect ofthe system that may be effected or impacted by tilt, lean, movementand/or rotation of a user, rider, and/or payload to move relative toanother part of the structure of the vehicle or system, 19.20 shows apivot type of point or fulcrum type of structure or other structure fromhard material like metal or flexible material like rubber, may be ahinge type mechanism, a floating mechanism that may involve magnetsand/or ball joints, large surface areas upon large surface areas, orother methods allowing mobility.

FIG. 20 shows an embodiment of the present invention, where a structuralelement is effected or impacted by a tilt, lean, movement and/orrotation of a user, rider, and/or payload such that this is detected bysensors as described in the invention, where this format of the presentinvention is employed in a flight type vehicle.

20.1 shows sensors, including weight or force sensors and remote sensingor electromagnetic wave based sensors, potentially used at the sametime, 20.3 shows an embodiment of the present invention including astructural aspect of the system that may be effected or impacted bytilt, lean, movement and/or rotation of a user, rider, and/or payload tomove relative to another part of the structure of the vehicle or system,where the present invention is on a flight vehicle, 20.7 shows a straptype structure, including sensors, 20.19 shows a structural aspect ofthe system that is effected or impacted by tilt, lean, movement and/orrotation of a user, rider, and/or payload to move relative to anotherpart of the structure of the vehicle or system.

FIG. 21 shows an embodiment of the invention where a strap typestructure and a remote and/or electromagnetic wave type sensor are used,where these sensors are implemented on a generic platform or flat ornon-flat structure which may be part of another structure, vehicle, orsystem.

21.1 shows sensors, including weight or force sensors and remote sensingor electromagnetic wave based sensors, potentially used at the sametime, 21.2 shows measures of distance between a fixed point and a useror rider, in this case they are linear distances, distance is measuredto all points or many points of the user or rider, dashed line showsdistance to one point of user, rider, and/or payload, 21.3 shows ageneric strap type structure and remote sensing type sensor embodimentof the present invention, 21.5 shows a user, rider, and/or payload, 21.7shows a planar surface that an embodiment of the present invention ison, it may be a curved surface or another surface.

FIG. 22 shows a user, rider, and/or payload on a generic embodiment ofthe present invention employing weight or force type sensors, whereforce magnitudes, distances, a coordinate system and a count of 1 to nsensors are indicated, as well as x and y labeled axis of a coordinatesystem imposed on an embodiment of the present invention to highlight amethod of calculation of movement and/or center of mass.

22.1 shows sensors, including weight or force sensors, in a grid typeformat, ranging from 0 through n across the platform, where each gridcell is a sensor, 22.7 shows a planar surface embodiment of the presentinvention, 22.3 shows a generic grid or patterned placement of sensorsto cover a surface where a user, rider, or payload may be, embodiment ofthe present invention, 22.4 shows the changing quantities of forcemeasured by sensors, before, during and after a tilt, lean, movementand/or rotation of a user, rider, and/or payload, 22.5 shows a user,rider, and/or payload, 22.7 shows a planar surface encompassing sensors,22.21 shows a coordinate system, 22.22 shows sensors detecting somethingfrom a user, rider, and/or payload, sensing F2; 22.23 shows sensorsdetecting something from a user, rider, and/or payload, sensing F1;22.24 shows coordinates of current points of contact of user, rider,and/or payload with apparatus.

To elaborate, in FIG. 22, a generic embodiment of the present inventionwhere weight or force type sensors are oriented in a grid basedconfiguration, in a general planar or platform based embodiment of thepresent invention, where an arbitrary reference coordinate frame X, Y22.21 has been included, and an example user, rider, and/or payload ispresent on the generic platform based embodiment of the presentinvention, the weight or force as detected by the sensors 22.22,combined with the weight or force detected by sensors 22.23 may becombined using distances x1, y1 and x2, y2 22.24, in order to determinea center of mass of the user, ride and/or payload, noting that the isrelative to the coordinate system in use. Specifically, a center of massin FIG. 22 may be determined by finding the weighted sum of the locationx1, y1 and x2, y2 22.24, where the weighting is relative to the forcesF1 and F2 22.4, where in this case it may be estimated by

x-coordinate center of mass=F1*x1+F2*x2/(F1+F2)

y-coordinate center of mass=F1*y1+F2*y2/(F1+F2)

if the user, rider, and/or payload then moved, at a time t+n where n isa time in the future relative to t, where t is an arbitrary initialtime, then a new center of mass may be found, where

x′-coordinate center of mass=F1′*x1′+F2′*x2′/(F1′+F2′)

y-coordinate center of mass=F1′*y1′+F2′*y2′/(F1′+F2′)

it is the case that the exact location of the center of mass at time tand t+n is an output of the present invention; it is also the case thatthe change in center of mass is an output of the present invention; itis also the case that the x and y coordinates, as well F1 and F2 22.4,in either or magnitude and direction, may be an output and/or the onlyoutput of the present invention.

It is to be noted that were the planar example of FIG. 22 on a curvedsurface, more complex equations may be used, and equations includingimaginary numbers, trigonometric functions, other complex functions, andany derivative functions, as well as constants, inputs based onenvironmental or other factors, or combinations of other algorithms, maybe employed within the scope of the present invention, in this or anyother configuration of the present invention.

FIG. 23 shows a generic platform type embodiment, where a remote sensingor electromagnetic wave type sensor is used, where a potential 3Dmapping that may be created within a computing environment is shown,including a coordinate system, to highlight the precise measurementsthat may be taken by the present invention, and used in determiningtilt, lean, movement, rotation, change in tilt, lean, position and/orrotation, and/or center of mass and/or change in center of mass.

23.1 shows sensors, including remote sensing or electromagnetic wavebased sensors, 23.2 shows measures of distance between a fixed point anda user or rider, in this case they are linear distances, distance ismeasured to all points or many points of the user or rider, dashed lineshows distance to one point of user, rider, and/or payload, 23.5 shows auser, rider, and/or payload, 23.21 shows a coordinate system, 23.25shows a 3D mapping of a user, rider, and/or payload that may be employedby the present invention, within which any of position, volume,surfaces, area, density, movement or other metrics may be modelled,estimated, measured, determined and/or output.

To elaborate, an embodiment of the present invention, encompassing aremote sensing or electromagnetic wave based sensors 23.1, where asensor measures distances to a user, rider, and/or payload, and/or isable to detect density, a 3D map 23.25 of a user, rider, and/or payloadmay be created within a computing environment, and within this computingenvironment, based off of detection from the sensor, a lean, tilt,movement and/or rotation of a user, rider, and/or payload, may bedetected. In the example of FIG. 23, if the sensor 23.1 detects theposition of all of a user, rider, and/or payload, it would have thecoordinates of each part of a user, rider, and/or payload—and if at atime t+n, as described above and with respect to typical continuousand/or per time analysis, the coordinates of a user, rider, and/orpayload changed, then a tilt, lean, movement, and/or rotation of a user,rider, and/or payload would thus be determined.

Furthermore, through possibly a volume based estimation of a user, forexample integrating over the measured points, to estimate a surface of auser, rider, and/or payload and determine a volume, if that surface ofshape of a user, rider, and/or payload changed, a tilt, lean, movement,and/or rotation of a user, rider, and/or payload would thus bedetermined.

Furthermore, if a weight or force of a user was also determined by asensor or otherwise know or input, then a center of mass could bedetermined through the present invention using the position and/orlocation based information of a user, rider, and/or payload as describedabove.

Furthermore, if a density sensing remote sensor was used, it coulddetect the density of a user, rider, and/or payload, and could thuslyalso determine a tilt, lean, movement and/or rotation of a user, rider,and/or payload in the same manner as described above, or could determinea center of mass or change in center of mass by using a 3D density mapof a space where all, part, some, or none of a user, rider, and/orpayload may be, by potentially integrating over the density map, orotherwise using the density information.

In these and other examples of the present invention, position, changein position, volume, surfaces or changes in volume of surfaces ormeasurements related to any of the above, may be an, or the only, outputof an embodiment of the present invention, such that a full 3D map isnot created, where only a plurality of distance detections or changesare output, or other metrics are outputs.

FIG. 24 shows a generic strap type structure embodiment of the presentinvention, where forces are shown of a user, rider, and/or payload on astrap type structure, the sensors or associates with a strap typestructure, to highlight precise methods of determining and/or detectingtilt, lean, movement, rotation, change in tilt, lean, position and/orrotation, and/or center of mass and/or change in center of mass.

24.1 shows sensors, including weight or force sensors, 24.3 shows astrap type structure embodiment of the present invention, 24.4 shows thechanging quantities of force measured by sensors, before, during andafter a tilt, lean, movement and/or rotation of a user, rider, and/orpayload, 24.5 shows user, rider, and/or payload, 24.7 shows a strap typestructure, 24.21 shows coordinate system, 24.26 shows a distance d, acharacteristic or piece of information about the embodiment, a distancebetween ends of a strap type embodiment; may be other metrics about thesystem.

Furthermore, as another example, as in FIG. 24, in an embodiment using astrap type structure 24.7, if a user, rider, and/or payload 24.5 tilts,leans and/or rotates, a strap based method may be able to determine atilt, lean and/or rotation, based on the magnitudes and/or directions ofstrain, weight and/or force on sensors as in for example F1 and F2 24.4,and may include additional measurements or detections, F2, F3 24.4 forexample , and may include various apparatus dimensions orcharacteristics or other information such as distance between ends of astrap based embodiment 24.26, where distance may be based on an imposedcoordinate system 24.21.

Other metrics about the system may be known to an algorithm that is partof the system, including distances, weights, measurements of positionsregarding size of platforms, structures, sensor position, as well asaverage weight, size, dimensions or other metrics of potential users,riders and/or payloads.

It is to be noted that if any of the above were implemented on curvedsurfaces, or in different configurations, different mathematical methodsmay be employed to determine a tilt, lean, movement, rotation and/orchange in tilt, lean, position and/or rotation and/or center of massand/or change in center of mass of a user, rider, and/or payload.

Embodiments of the present invention may be used well with flightvehicles and/or machines in air or otherwise, land vehicle and/ormachines, water vehicles and/or machines, outer space vehicles and/ormachines, where outer space or space refers to above Earth's atmosphere.

Embodiments of the present invention may not directly employ sensors,but detect relevant user, rider, and/or payload tilt, lean, movementand/or rotation information, and as described above, pass, as an outputof the present invention, that information denoting the tilt, lean,movement, rotation and/or change in tilt, lean, position and/or rotationand/or center of mass and/or change in center of mass to another controlalgorithm or mechanism on a vehicle or system employing the apparatus ofthe present invention.

Embodiments of an apparatus of the present invention may involveanticipating, estimating, calculating and/or determining an anticipatedand/or expected tilt, lean, movement, rotation and/or change in tilt,lean, position and/or rotation, and/or center of mass and/or change incenter of mass—and may do so using any of the above methods, combinedwith previous movement, time series analysis, derivatives of motionanalysis, as well as other sensors or methods, including but not limitedto verbal commands, eye and/or gave tracking methods, movement trackingmethods of specific body parts (head, arm, hands for example), and/orother methodologies. These calculations, or metrics and/or otherinformation about anticipated movement may be passed, as outputs or theonly outputs, of the present invention.

Embodiments of the present invention may use one or a plurality ofsensors, placed in any of multiple locations, to measure one orplurality of parameters, where any combination of any sets of sensors,locations of sensors, directly detectable or measurable parameters ortangentially detectable or measurable parameters, based on a user,rider, or payload, or a portion of an apparatus effected by a user rideror payload, may be used to ascertain a shift, tilt, perturbation,rotation, slide or otherwise delta in position, or change in any of thethese—and may be used in ascertaining a center of mass, center ofgravity or otherwise center, or change thereof, of a payload, userand/or rider, and may be included in or used to inform a center of mass,center of gravity or otherwise center, determination, of whole payload,user, rider, vehicle system.

Additionally, a payload which may shift may encompass cargo, packages, auser or rider, liquid in a single container or multiple containers,single or multiple items attached to or tied down within a payloadcarrying area or not tied down and simply tossed into, or set upon orresting upon a surface within or on a payload support area. Liquids mayinclude water, oil, flame retardant, fertilizer, pesticides, or othermore or less viscous liquids, and may be in any containers that arestandard containers, or include structures designed to minimize liquidshift or measure or detect liquid shift or address a shifting liquid,center of mass or center of gravity or position of liquid or any part ofliquid in any part of a container or on a vehicle or structure employingthe present invention. Packages may include any type of cargo,containers, boxes, canisters, cans, or non-boxed items including liquidcanisters, shovels, ropes, medical supplies, ammunition, computers,robots, barricade material, wood, barbed wire, batteries, or any otherobject.

Any combination of any of the sensors described below, or any othersensors, may be combined in any manner to accomplish an embodiment ofthe present invention.

Sensors may include any combination of any of, weight sensors forcesensors, tension sensors, stress sensors, stretch sensors, gyroscopes,accelerometers, sensors that detect acceleration or sudden changes inmovement, spring, pivot joint, grid of sensors as described in sensors,plurality of sensors in multiple non-grid locations, polar coordinatebased sensors, non-equally spaced sensors, equally or geometricallyplaces sensors, hinge, rotation system, other mechanical sensors,cameras, image sensors, radar, lidar, sensors that determine weight ordensity of material, x-ray type sensors, magnetometers, accelerometers,springs, hydraulics or other mechanical components, sliding basesmechanisms, where a portion of a seat or another part of an apparatus asdescribed within is able to slide and/or rotate, sliding or flexingcomponents, part of a seat, seat back, standing platform can slide in adirection, or flex in a direction, mechanical sensors such as a rodwhere the amount of the extension of the rod is measured or the weightor force that the rod experienced is measured, a piece of an apparatusmay be a seatback, seat, arm rests, or a structure that support a user,rider, or payload and that structure is something a person can leanagainst or stand on, and that may tilts.

Sensors may accomplish measurement through parameters such as anycombination of any of weight, force, distance, length, position, 3dmapping and inferred or calculated position, orientation, tension,distance, electromagnetic waves or electromagnetic wave strength,strain, weight, may be detected, measured, ascertained or otherwisedetermined.

Sensing may occur or sensors may be in any locations or from anycombination of locations such as beneath where a user rider or payloadrests, on or in a platform, may be planar or a generic platform, on acurved or non-flat surface, on or in a structure, on or in a strap, onor in a seat, on or in a seatback, on or in a seating area, on or in anarmrest, on or in footwells or vertical surfaces, built into on or inwalls, on or in a standing platform, built into a cabin, built into acockpit type area, built into, under or along with a seat or mechanicalarea or element that supports user, rider, and/or payload from thebottom, side or another area or direction, embedded in the body of avehicle, sensors may be near to a payload or user/rider passenger area,may be beside a payload, user or rider area.

In embodiments, any combination of any of the above described sensors,or any other sensors, may be used on any area such as a vehicle,platform, wing, hanging support structure, vertically mounts on flightvehicle, flight exoskeleton suit, non-fixed portion of vehicle that canmove in tilt/lean/rotation relative to the flight vehicle, road vehicle,water vehicle, structure, or ground.

In embodiments, any combination of any of the above or below describedsensors, or any other sensors, may determine any of weight change,distance change, amount/magnitude, location, position, relativeposition, tilt, lean, rotation, movement, tilt, flex, bending of a pieceof the apparatus this piece of hardware, or other relevant parametersthat accomplish informing center of mass or center of gravity orposition or change thereof of a user, rider, or payload.

In embodiments, sensors may detect anything in the event of if a changeis detected, on a continuous control loop, every second or millisecond,other time intervals, update if there is a new measurement, updated it ameasurement above a certain threshold occurs.

In embodiments, any combination of any of the above may be used toinform or calculate center of mass, change in center of mass,coordinates of center of mass, center of gravity, change in center ofgravity, coordinates of center of gravity, tilt/lean/rotationmovement/position/change-there-of payload, user or rider,tilt/lean/rotation/movement/position/change-there-of center of mass orcenter of gravity of payload, user or rider, input tilt into controlalgorithms.

In embodiments, any output of any combination of any of the above may beused to as inputs to other systems including, direct input to anothercontrol system and/or algorithm, amount of shift etc., may not becalculated, but specific measurements may be passed to rest of system,may be inputs to equations that determine center of mass, may determinecenter of mass and pass this info to rest of system, quantitiesmeasuring a change or relative change or magnitude/direction may bepassed to another control algorithm or mechanism.

Additional methods and sets of organizing sensors may be used, asdescribed within, and other methods not expressly described within mayaccomplish the similar functionality, and rely on the principles andcovered as a subset of the apparatus described within.

An exemplary block diagram of a computational device, such as a computersystem 2500, in which processes involved in the embodiments describedherein may be implemented, is shown in FIG. 25. Computer system 2500 maybe implemented using one or more programmed general-purpose computersystems, such as embedded processors, systems on a chip, personalcomputers, workstations, server systems, and minicomputers or mainframecomputers, or in distributed, networked computing environments. Computersystem 2500 may include one or more processors (CPUs) 2502A-2502N,input/output circuitry 2504, network adapter 2506, and memory 2508. CPUs2502A-2502N execute program instructions in order to carry out thefunctions of the present communications systems and methods. Typically,CPUs 2502A-2502N are one or more microprocessors, such as an INTEL CORE®processor. FIG. 25 illustrates an embodiment in which computer system2500 is implemented as a single multi-processor computer system, inwhich multiple processors 2502A-2502N share system resources, such asmemory 2508, input/output circuitry 2504, and network adapter 2506.However, the present communications systems and methods also includeembodiments in which computer system 2500 is implemented as a pluralityof networked computer systems, which may be single-processor computersystems, multi-processor computer systems, or a mix thereof.

Input/output circuitry 2504 provides the capability to input data to, oroutput data from, computer system 2500. For example, input/outputcircuitry may include input devices, such as keyboards, mice, touchpads,trackballs, scanners, analog to digital converters, etc., outputdevices, such as video adapters, monitors, printers, etc., andinput/output devices, such as, modems, etc., and sensors 2511, such asthose described above. Network adapter 2506 interfaces device 2500 witha network 2510. Network 2510 may be any public or proprietary LAN orWAN, including, but not limited to the Internet.

Memory 2508 stores program instructions that are executed by, and datathat are used and processed by, CPU 2502 to perform the functions ofcomputer system 2500. Memory 2508 may include, for example, electronicmemory devices, such as random-access memory (RAM), read-only memory(ROM), programmable read-only memory (PROM), electrically erasableprogrammable read-only memory (EEPROM), flash memory, etc., andelectro-mechanical memory, such as magnetic disk drives, tape drives,optical disk drives, etc., which may use an integrated drive electronics(IDE) interface, or a variation or enhancement thereof, such as enhancedIDE (EIDE) or ultra-direct memory access (UDMA), or a small computersystem interface (SCSI) based interface, or a variation or enhancementthereof, such as fast-SCSI, wide-SCSI, fast and wide-SCSI, etc., orSerial Advanced Technology Attachment (SATA), or a variation orenhancement thereof, or a fiber channel-arbitrated loop (FC-AL)interface.

The contents of memory 2508 may vary depending upon the function thatcomputer system 2500 is programmed to perform. In the example shown inFIG. 25, exemplary memory contents are shown representing routines anddata for embodiments of the processes described above. However, one ofskill in the art would recognize that these routines, along with thememory contents related to those routines, may not be included on onesystem or device, but rather may be distributed among a plurality ofsystems or devices, based on well-known engineering considerations. Thepresent apparatus, systems, and methods may include any and all sucharrangements.

In the example shown in FIG. 25, memory 2508 may include sensorinterface routines 2512, computation routines 2514, and operating system2524. Sensor interface routines 2512 may include software routines toobtain sensor data from sensors 2511, according to embodiments describedabove. Computation routines 2514 may include software routines tocompute parameters such as a tilt, a lean, a shift, a rotation, a slide,a position, a movement, and a rotation, etc., of an object, according toembodiments described above. Operating system 2534 may provide overallsystem functionality.

As shown in FIG. 25, the present communications systems and methods mayinclude implementation on a system or systems that providemulti-processor, multi-tasking, multi-process, and/or multi-threadcomputing, as well as implementation on systems that provide only singleprocessor, single thread computing. Multi-processor computing involvesperforming computing using more than one processor. Multi-taskingcomputing involves performing computing using more than one operatingsystem task. A task is an operating system concept that refers to thecombination of a program being executed and bookkeeping information usedby the operating system. Whenever a program is executed, the operatingsystem creates a new task for it. The task is like an envelope for theprogram in that it identifies the program with a task number andattaches other bookkeeping information to it. Many operating systems,including Linux, UNIX®, OS/2®, and Windows®, are capable of running manytasks at the same time and are called multitasking operating systems.Multi-tasking is the ability of an operating system to execute more thanone executable at the same time. Each executable is running in its ownaddress space, meaning that the executables have no way to share any oftheir memory. This has advantages, because it is impossible for anyprogram to damage the execution of any of the other programs running onthe system. However, the programs have no way to exchange anyinformation except through the operating system (or by reading filesstored on the file system). Multi-process computing is similar tomulti-tasking computing, as the terms task and process are often usedinterchangeably, although some operating systems make a distinctionbetween the two.

The present invention may be a system, a method, and/or a computerprogram product at any possible technical detail level of integration.The computer program product may include a computer readable storagemedium (or media) having computer readable program instructions thereonfor causing a processor to carry out aspects of the present invention.The computer readable storage medium can be a tangible device that canretain and store instructions for use by an instruction executiondevice.

The computer readable storage medium may be, for example, but is notlimited to, an electronic storage device, a magnetic storage device, anoptical storage device, an electromagnetic storage device, asemiconductor storage device, or any suitable combination of theforegoing. A non-exhaustive list of more specific examples of thecomputer readable storage medium includes the following: a portablecomputer diskette, a hard disk, a random access memory (RAM), aread-only memory (ROM), an erasable programmable read-only memory (EPROMor Flash memory), a static random access memory (SRAM), a portablecompact disc read-only memory (CD-ROM), a digital versatile disk (DVD),a memory stick, a floppy disk, a mechanically encoded device such aspunch-cards or raised structures in a groove having instructionsrecorded thereon, and any suitable combination of the foregoing. Acomputer readable storage medium, as used herein, is not to be construedas being transitory signals per se, such as radio waves or other freelypropagating electromagnetic waves, electromagnetic waves propagatingthrough a waveguide or other transmission media (e.g., light pulsespassing through a fiber-optic cable), or electrical signals transmittedthrough a wire.

Computer readable program instructions described herein can bedownloaded to respective computing/processing devices from a computerreadable storage medium or to an external computer or external storagedevice via a network, for example, the Internet, a local area network, awide area network and/or a wireless network. The network may comprisecopper transmission cables, optical transmission fibers, wirelesstransmission, routers, firewalls, switches, gateway computers, and/oredge servers. A network adapter card or network interface in eachcomputing/processing device receives computer readable programinstructions from the network and forwards the computer readable programinstructions for storage in a computer readable storage medium withinthe respective computing/processing device.

Computer readable program instructions for carrying out operations ofthe present invention may be assembler instructions,instruction-set-architecture (ISA) instructions, machine instructions,machine dependent instructions, microcode, firmware instructions,state-setting data, configuration data for integrated circuitry, oreither source code or object code written in any combination of one ormore programming languages, including an object oriented programminglanguage such as Smalltalk, C++, or the like, and procedural programminglanguages, such as the “C” programming language or similar programminglanguages. The computer readable program instructions may executeentirely on the user's computer, partly on the user's computer, as astand-alone software package, partly on the user's computer and partlyon a remote computer or entirely on the remote computer or server. Inthe latter scenario, the remote computer may be connected to the user'scomputer through any type of network, including a local area network(LAN) or a wide area network (WAN), or the connection may be made to anexternal computer (for example, through the Internet using an InternetService Provider). In some embodiments, electronic circuitry including,for example, programmable logic circuitry, field-programmable gatearrays (FPGA), or programmable logic arrays (PLA) may execute thecomputer readable program instructions by utilizing state information ofthe computer readable program instructions to personalize the electroniccircuitry, in order to perform aspects of the present invention.

Aspects of the present invention are described herein with reference toflowchart illustrations and/or block diagrams of methods, apparatus(systems), and computer program products according to embodiments of theinvention. It will be understood that each block of the flowchartillustrations and/or block diagrams, and combinations of blocks in theflowchart illustrations and/or block diagrams, can be implemented bycomputer readable program instructions.

These computer readable program instructions may be provided to aprocessor of a general-purpose computer, special purpose computer, orother programmable data processing apparatus to produce a machine, suchthat the instructions, which execute via the processor of the computeror other programmable data processing apparatus, create means forimplementing the functions/acts specified in the flowchart and/or blockdiagram block or blocks. These computer readable program instructionsmay also be stored in a computer readable storage medium that can directa computer, a programmable data processing apparatus, and/or otherdevices to function in a particular manner, such that the computerreadable storage medium having instructions stored therein comprises anarticle of manufacture including instructions which implement aspects ofthe function/act specified in the flowchart and/or block diagram blockor blocks.

The computer readable program instructions may also be loaded onto acomputer, other programmable data processing apparatus, or other deviceto cause a series of operational steps to be performed on the computer,other programmable apparatus or other device to produce a computerimplemented process, such that the instructions which execute on thecomputer, other programmable apparatus, or other device implement thefunctions/acts specified in the flowchart and/or block diagram block orblocks.

The flowchart and block diagrams in the Figures illustrate thearchitecture, functionality, and operation of possible implementationsof systems, methods, and computer program products according to variousembodiments of the present invention. In this regard, each block in theflowchart or block diagrams may represent a module, segment, or portionof instructions, which comprises one or more executable instructions forimplementing the specified logical function(s). In some alternativeimplementations, the functions noted in the blocks may occur out of theorder noted in the Figures. For example, two blocks shown in successionmay, in fact, be executed substantially concurrently, or the blocks maysometimes be executed in the reverse order, depending upon thefunctionality involved. It will also be noted that each block of theblock diagrams and/or flowchart illustration, and combinations of blocksin the block diagrams and/or flowchart illustration, can be implementedby special purpose hardware-based systems that perform the specifiedfunctions or acts or carry out combinations of special purpose hardwareand computer instructions.

Although specific embodiments of the present invention have beendescribed, it will be understood by those of skill in the art that thereare other embodiments that are equivalent to the described embodiments.Accordingly, it is to be understood that the invention is not to belimited by the specific illustrated embodiments, but only by the scopeof the appended claims.

1. An apparatus comprising: a platform configured to hold at least oneobject; at least one sensor attached to the platform, the sensorconfigured to detect a change or perturbation of a distance from the atleast one sensor to the at least one object; and a computational deviceconfigured to determine at least one of a tilt, a lean, a shift, arotation, a slide, a position, a movement, and a rotation of the atleast one object or to determine a change in at least one of a tilt, alean, a shift, a rotation, a slide, a position, a movement, and arotation of the at least one object based on the change or perturbationdetected by the at least one sensor.
 2. The apparatus of claim 1,wherein the at least one object comprises at least one of a user, arider, or a payload.
 3. The apparatus of claim 1, wherein thecomputational device is configured to further determine at least one ofa magnitude and a direction in which the at least one object shifts,slides, or rotates in order to determine the tilt, lean or rotation of auser, rider or payload.
 4. The apparatus of claim 1, wherein thecomputational device is further configured to use the detected ormeasured movement or perturbation to determine at least one of a centerof mass, a center of gravity, a change in the center of mass, and achange in the center of gravity of the object.
 5. The apparatus of claim1, wherein the at least one sensor is configured to perform remotesensing or electromagnetic wave based sensing.
 6. The apparatus of claim1, wherein the at least one sensor comprises a plurality of sensorsconfigured to detect a plurality of areas of the object.
 7. Theapparatus of claim 1, wherein: the at least one sensor is furtherconfigured to detect or measure a magnitude or direction of a movementor perturbation of a piece of the apparatus; and the computationaldevice is further configured to use the detected or measured movement orperturbation to determine at least one of a tilt, a lean, a shift, arotation, a slide, a position, a movement, and a rotation of the atleast one object or to determine a change in at least one of a tilt, alean, a shift, a rotation, a slide, a position, a movement, and arotation of the at least one object.
 8. The apparatus of claim 7, thecomputational device is further configured use the detected or measuredmovement or perturbation to determine at least one of a center of mass,a center of gravity, a change in the center of mass, and a change in thecenter of gravity of the object.
 9. An apparatus comprising: a strapconfigured to hold at least one object; at least one sensor attached tothe strap, the sensor configured to detect a change or perturbation of aforce on the object or a distance from the at least one sensor to the atleast one object; and a computational device configured to determine atleast one of a tilt, a lean, a shift, a rotation, a slide, a position, amovement, and a rotation of the at least one object or to determine achange in at least one of a tilt, a lean, a shift, a rotation, a slide,a position, a movement, and a rotation of the at least one object basedon the change or perturbation detected by the at least one sensor. 10.The apparatus of claim 9, wherein the at least one object comprises atleast one of a user, a rider, or a payload.
 11. The apparatus of claim9, wherein the computational device is configured to further determineat least one of a magnitude and a direction in which the at least oneobject shifts, slides, or rotates in order to determine the tilt, leanor rotation of a user, rider or payload.
 12. The apparatus of 9, whereinthe computational device is further configured to use the detected ormeasured movement or perturbation to determine at least one of a centerof mass, a center of gravity, a change in the center of mass, and achange in the center of gravity of the object.
 13. The apparatus ofclaim 9, wherein the at least one sensor is positioned tangential to thestrap, perpendicular to the strap, or non-perpendicular to the strap.14. The apparatus of claim 9, wherein the strap is mounted on ahorizontal support structure.
 15. The apparatus of claim 14, wherein thehorizontal support structure comprises a bed and the strap is configuredto restrain a person.
 16. The apparatus of claim 14, wherein sensing isaccomplished by at least one sensor comprises a plurality of sensors,including at least one of measurement devices, physics measuringsystems, and remote measurement systems, including weight, distance orother measurable parameters.
 17. The apparatus of claim 9, wherein thestrap is configured to attach the apparatus to a person.
 18. Theapparatus of claim 9, wherein: the at least one sensor is furtherconfigured to detect or measure a magnitude or direction of a movementor perturbation of a piece of the apparatus; and the computationaldevice is further configured to use the detected or measured movement orperturbation to determine at least one of a tilt, a lean, a shift, arotation, a slide, a position, a movement, and a rotation of the atleast one object or to determine a change in at least one of a tilt, alean, a shift, a rotation, a slide, a position, a movement, and arotation of the at least one object.
 19. The apparatus of claim 18,wherein the computational device is further configured use the detectedor measured movement or perturbation to determine at least one of acenter of mass, a center of gravity, a change in the center of mass, anda change in the center of gravity of the object.